BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 81 of 82
H
Hand Cable on Robot Arm........................16
Hex wrench ...............................................11
High-level..................................................18
Hysteresis ..................................................79
I
Idler pulley ....................................52, 53, 79
Independent control...................................77
Industrial grippers .................................6, 79
J
Joint angle transform...........................71, 72
Joint motion limits...............................72, 75
Joint-Torque Sensors............ See Strain gage
K
Kinematics ....................................68, 75, 79
D-H Parameter ......................................69
Finger F1 ...............................................70
Forward .................................................69
Homogeneous transform .......................68
L
Lab bench stand.....................................9, 15
Lexan®..................................................9, 79
Loctite 222 ................................................11
Lubrication ..........................................11, 46
M
Maintenance ..............................................42
Maintenance Kit ..................................11, 46
Monitor Strain.exe.....................................51
Motion control chip...................................59
Motor Parameter
FDEF .....................................................24
FGET...............................................24, 40
FLIST ........................................23, 24, 32
FLISTV ...........................................24, 32
FLOAD .................................................24
FSET .....................................................23
Motor Power boards ..................................59
Motor Status
BD ...................................................23, 29
BP..........................................................29
OD.........................................................29
P 30, 40
S 20, 30
SG ...................................................30, 57
Motors .................................................60, 75
Acceleration ..........................................60
Feedback ...............................................60
Maximum velocity ................................60
Peak torque............................................60
Phases....................................................60
Poles ..................................................... 60
Proportional gain .................................. 60
Trapezoidal Profile control................... 60
Trapezoidal-Profile control................... 60
Velocity ...........................................60, 75
Velocity control .................................... 60
Velocity error ....................................... 60
Mounting .....................................7, 9, 12, 15
Movement Commands
C 21, 28, 29, 32
HI...............................................22, 26, 29
HOME .......................................22, 28, 29
IC .........................................22, 28, 29, 60
IO.........................................22, 28, 29, 60
LOOP ..................................22, 38, 39, 40
M 22, 28, 29, 60
O 28, 29, 34
T 23, 50, 70
TC........................................23, 28, 29, 60
TO........................................23, 28, 29, 60
Movement Parameters
BDAT ................................................... 28
BS ......................................................... 28
DP........................................22, 23, 24, 28
DS........................................22, 23, 24, 28
HSG .................................................28, 54
LSG ...................................................... 28
MCV..........................................29, 56, 64
MOV....................................29, 34, 56, 64
MSG ................................................29, 57
O
Options ................................................12, 76
P
Payload ..................................................... 75
Position sensing .........................See Encoder
Power........................................................ 75
Power Supply ..................................8, 17, 75
Reset switch.......................................... 18
Power-Up sequence .................................. 17
Pretension ..........................42, 53, 54, 57, 79
PWM ........................................................ 59
R
RAM......................................................... 59
Range of motion ....... See Joint motion limits
RealTime control ...................................... 80
RealTime Mode ........................................ 18
RealTime Parameters
LCPG.............................30, 38, 39, 41, 42
LCV .........................30, 38, 39, 40, 41, 42
LCVC ..................................30, 39, 41, 42
LFAP .............................31, 38, 39, 41, 42
LFDP .......................31, 38, 39, 40, 41, 42
LFDPC...........................31, 38, 40, 41, 42
